text:
|Publication number
|Publication type
|Application number
|Publication date
|Apr 24, 2001
|Filing date
|Mar 5, 1999
|Priority date
|Mar 5, 1999
|Fee status
|Publication number
|Barclay J. Tullis, Larry McColloch
|Original Assignee
|Hewlett-Packard Company
|Export Citation
|BiBTeX, EndNote, RefMan
|Patent Citations (6), Referenced by (64), Classifications (14), Legal Events (6)
|External Links: USPTO, USPTO Assignment, Espacenet
The invention relates generally to methods of identifying either or both of velocity and navigation of an imaging device relative to a region of interest, and relates more particularly to detecting velocity or navigation using a photosensor array.
There are a variety of applications which require measurements of motion of a device relative to a region of interest, such as a surface of a document or a surface region within a robotically controlled system. Imaging techniques are known for measuring the relative velocity and determining the relative positions of an imaging device and a region of interest. In one such technique, a human operator views structural features, as imaged by a photosensor array, and judges position and motion based upon movement of the structural features within the field of view of the photosensor array. If the arrangement of the imaging system and the viewed region is controlled, it is possible for the measurements of position and/or velocity to be automatically interpreted from the relationship of the individual signals provided by the elements of the photosensor array. This technique may be used to monitor movement of an optical mouse relative to a rectangular grid by sensing and counting grid lines passing through a field-of-view of an imaging arrangement fixed to the mouse. The technique may also be used for monitoring rotation of a shaft having image-detectable encoding, or may be used to control operation of a robotic device.
A related operation is described in U.S. Pat. No. 5,578,817 to Bidiville et al., which discloses a device for use with a computer mouse or trackball. A pattern of spots is formed on a ball and is illuminated with one or more light sources. An optical element, such as a lens or diffractive element, may be used to focus an image of the ball on a sensor array. The signals generated by the array are then acted upon by logic circuits to convert the movement of the ball to X and Y components for determining corresponding movement of a cursor on a video display. Motion detection is based on tracking the differences in spatial intensity of the spots. The patent describes an "edge" as a difference of intensity between two adjacent black and white pixels at the sensor array. The basic operation of the sensor array is to recognize the edges and track changes over time. The cursor of the video display is manipulated in response to changes in the positions of the edges. The process is not limited to use with spherical objects, since it can be applied to tracking movement along a planar surface having a pattern of spots.
A method of determining the distance that is traveled by a sheet of paper within a printer or document scanner is described in U.S. Pat. No. 5,149,980 to Ertel et al., which is assigned to the assignee of the present invention. A linear array of light sensors is directed at the paper to sense light issuing from the paper. This produces a reference array of light signal strengths. After the paper is moved in a given direction, a second sampling of light signal strengths is generated from the light sensors. A cross-correlation function compares the second sampling to the reference array of signal strengths so as to determine the distance that the paper has moved in the given direction during the time period between acquiring the reference array and the second sampling. The cross-correlation function can be repeatedly applied as subsequent samplings of light signal strengths are generated using the linear array of light sensors. The one-dimensional approach may be extended to determine the vector of two-dimensional movement by substituting a two-dimensional array of sensor elements for the linear array.
Employing correlations among samplings from a photosensor array for the purpose of measuring motion is also described in U.S. Pat. Nos. 5,686,720 to Tullis and 5,644,139 to Allen, Tullis et al. 5,578,813 to Allen, Tullis et al., and 5,729,008 to Blalock et al., all of which are assigned to the assignee of the present invention. In a document scanning application of the inventions, navigation information is acquired simultaneously with acquiring image information of a scanned document. The navigation information may be acquired by using one or more navigation sensors that image "inherent structural features," which are defined as features of an original that are characteristic of processes for forming the original and are independent of forming image data and/or systematic registration data on the original. For example, if the original is a paper product, the inherent structural features may be paper fibers. Correlations among frames of navigation information from a navigation sensor may be used to map the image information that is acquired simultaneously with the navigation information. Since the process is able to arrange the image information based upon a detectable scan path of the image and navigation sensors, a reliable document reproduction can be achieved in applications that allow unconstrained free-hand movement of the sensors relative to the document.
While the correlation methods operate well in applications in which measurements of motion or position are based on images of features that are easily distinguishable, further improvements are desired. Even when the features that are imaged for purposes of acquiring navigation information are uniquely arranged, there is a susceptibility to inaccuracy if the imaging system or the image correlation processing is not sufficiently sophisticated to detect differences in the arrangement of the features.
What is needed is a method that enhances the sensitivity, accuracy and precision of feature differentiation, where the differentiation is used as a basis for determining either or both of velocity and navigation of an image-acquiring device relative to a region of interest.
A method of determining velocity, navigation, or both uses "double correlation processing." A time series of images of detectable features within a region of interest is acquired using an imaging device, such as a photosensor array. A correlation of positions of imaged features within first and second images of the sequence is performed in order to provide one source of velocity and/or navigation information. As a second source, one or both of the same images may be used to identify correlations with previously stored position information that is relevant to distinguishing locations within the region of interest. Thus, the accuracy and precision of motion measurements may be significantly enhanced by combining a step of cross-correlating the images within the time series (i.e., an intra-sequence correlation step) with a step of correlating the images with previously stored position information that uniquely distinguishes locations within the region of interest (i.e., an extra-sequence correlation step).
In the preferred embodiment, the detectable features are randomly distributed within the region of interest. The distribution is identified and stored prior to acquiring the time series of images. The approach to acquiring the position information that defines the distribution is not critical. One approach is to scan the region of interest with the same imaging device (e.g., photosensor array) that is subsequently used to acquire the time series of images. A significant benefit to using this approach, particularly with randomly distributed features, is that the approach is not susceptible to the effects of previous contamination or surface damage to the region of interest, since the features will still be randomly located and equally suitable to the correlation processing. However, there may be applications in which a systematic distribution of features is preferred.
The distribution of detectable features should be in a pattern that enables accurate measurements of either or both of velocity and navigation in two dimensions. Dots may be formed on a surface and may be random with respect to any or all of sizes, shapes, and locations. In an application in which the region of interest is a document that is scanned for the purpose of subsequently reproducing an image on the document, the detectable features may be inherent structural features, such as paper fibers. Paper fibers and other inherent structural features of various target surfaces can be made to reveal high contrasts when grazing illumination is used (e.g., illumination at an angle of less than 16� relative to the target surface). Other target surfaces may provide sufficient contrast when incident illumination is at a much greater angle.
As an alternative to a random distribution of features, there may be a known systematic distribution. As one example, the pattern may include a series of log cycles which can be used to accurately calculate absolute position within any cycle and the pattern may further include diverging lines that may be used to differentiate the cycles. This permits an accurate and precise absolute position measurement anywhere along the length of the target surface.
When applying the correlation methods of surface tracking using a time series of images of the region of interest having randomly distributed features, there is an opportunity to use DC-filtering and/or bandpass filtering to increase the signal-to-noise ratio of correlation values. Any influences of pixel values that do not change significantly when the relative movement between the imaging device and the region of interest occurs can be filtered prior to the correlation process. Similarly, pixel values that change by an order of magnitude less than the majority of the other pixels are likely to be noise and can be filtered to provide improved correlation performance. In instances in which very little noise is present, it is useful to apply non-linear transformations (such as logs) to non-linearly compress the range of raw pixel value data, and to take powers of spatial gradients to expand the contrast values when the majority of the spatial gradients are small.
As previously noted, one application of the method is to determine navigation information that is then used to map independently acquired image information of a scanned document. Lateral movement along the document is determined by correlating successive frames of image data. The correlations compare the positions of unique structural or printed features in a sequence of image frames. Correlations are also made to previously stored position information specific to the structural or printed features.
In another application, the method is used in controlling a robotic device, such as a handling mechanism. In a third application, the method is used to determine rotation of a shaft or a gear. For example, a systematic pattern may be manifested by the top surfaces of teeth of the gear. Using gear teeth as the object surface requires that the field-of-view of a photosensor array be larger than the pitch of the teeth, so that there is always at least a portion of one tooth in view. Reliable navigation signals can be acquired, since gaps between the teeth create regions having no contrast and the teeth create regions with contrasting features.
FIG. 1 is a side sectional view of an imaging device directed at a surface for acquiring information to be used in forming motion measurements in accordance with the invention.
FIG. 2 is a top view of a pattern of features along a region of interest to allow each location within the region to be uniquely identified using a method in accordance with the invention.
FIG. 3 is a top view of a second pattern of features for implementing the invention.
FIG. 4 is a top view of a third pattern of features for implementing the invention.
FIG. 5 is a process flow of steps for implementing double correlation processing in accordance with the invention.
FIG. 6 is a schematic view of intra-series correlation.
FIGS. 7-9 are views of a hand-held scanning device as one application of the invention.
With reference to FIG. 1, an exemplary device 12 for mounting a photosensor array 14 is shown as being directed at a surface 16 of an object 18. The device 12 may be a portion of a hand scanner or a robotic arm, as examples. Imaging optics 10 are attached such that one focal plane of the imaging optics is coincident with the surface 16 of the object 18, while the other focal plane is coincident with the sensor elements of the photosensor array 14.
An illumination source 20 is located to direct light 22 onto the surface 16 of the object 18 at a desired angle 24. The angle may be selected to provide grazing angle illumination of less than 160, but this is not critical to the invention. In some applications, right angle illumination may be beneficial. The illumination source 20 may be fixed in position or may be movable, allowing the angle of incidence to be adjusted as desired. In some instances, the angle 24 may be that of a center line of a converging or diverging beam.
The purpose of illuminating the surface 16 of the object 18 is to create light contrasts that are indicative of structural and/or printed features on the surface. The light contrasts can be imaged by the photosensor array 14 and used as landmarks within a time series of images, allowing motion measurements (i.e., velocity and/or navigation measurements) of relative movement between the device 12 and the object 18 during the time period of acquiring the time series.
The contrast patterns that are imaged by the photosensor array 14 depend upon the detectable features on the surface 16. In a robotic application, the features may be relatively large and may be easily detected without using an artificial illumination source 20. For example, in manipulating a payload of a spacecraft, there may be unique features on the outside of the payload. The structural features may be support frames or utility boxes. At a smaller level, the object 18 may be a posterboard made of wood or may be a document made of paper. Both wood and paper have fibers that create unique patterns when properly illuminated. Microscopic features of paper products can be used to create light contrasts that typically range from about 5 μm to 100 μm in size.
Typically, conventional illumination sources 20 provide acceptable contrast differentiations. For example, a linear array of high intensity light emitting diodes (LEDs) having an amber color may be used. The selection of the illumination source and its angle of incidence 24 on the surface 16 is dependent upon the features that are to be imaged by the photosensor array 14. The wavelength of light is selected to maximize the contrasts when the light is projected onto the surface. The illumination approach may include one or more LEDs with dome lenses or may include a light pipe consisting of a molded optical element designed to channel the illumination onto the surface with a minimal amount of light loss. Such a design may be made to provide relatively uniform illumination of a target area with a wide range of incident angles, while avoiding normally incident rays in order to avoid specular surface reflections. However, in some applications normally incident rays may be desired.
Coherent light from a laser may be used as an illumination source 20 if the surface of interest 16 is not translucent enough to result in multiple scattering. Multiple scattering from scattering centers lying at multiple depths in the object 18 can result in "boiling" of speckle patterns seen in the image of the object as the relative position of the object changes with time. However, even on a non-translucent surface, such as an aluminum surface, the deduction of object motion from pattern motion can be complicated by the specifics of the geometry of illumination, viewing, and relative motions involved. Therefore, incoherent illumination is the preferred illumination. For objects 18 that exhibit variations along a surface profile, collimated light is preferred. Collimated light is optical energy that travels in a single direction and therefore creates good surface profile shadows. For surfaces with printed markings but little surface profile, non-parallel light is preferred, since contrast is more a result of light scattering and absorption effects which do not depend upon divergence or convergence within the incident illumination. Collimation usually restricts available irradiance.
The imaging optics 10 may be used to collect and focus light energy from the surface 16 onto the photosensor array 14. An imaging lens or series of imaging lenses collects light that is reflected, scattered, transmitted or emitted from the surface and focuses it onto the elements of the array. The distances from the lens to the surface 16 and from the lens to the array 14 will depend on the selected lens for the particular applications and its desired magnification. For some applications, such as hand scanning, the distance from the lens to the object 18 may be in the millimeter range.
The photosensor array 14 is an array of discrete optically sensitive elements. The pitch of the elements, in conjunction with the magnification of the lens 10, affects the resolution of the image that the array can produce. The sensor array can be a charged coupled device (CCD), an amorphous silicon photosensor array, a CMOS photosensor array, or any type of active pixel sensor array.
Processing electronics and/or software is necessary to interpret and transfer relevant data. The electronics may include electronic or magnetic memory, microprocessors, ASICs, DSPs, etc. The software may include operating systems, applications, and database systems.
In accordance with the invention, knowledge of the positions of features along the surface 16 is acquired prior to the step of acquiring a time series of images by means of the photosensor array 14. The prior knowledge may be acquired by loading location information into memory for subsequent correlation with information acquired in real time. This approach is preferable when the predominant features of the surface 16 are systematically distributed and the object 18 is one that will be repeatedly involved in motion measurements. For example, the object 18 may be a gear having a systematic pattern of teeth, allowing measurements to be taken regarding the angular velocity of the gear. Using gear teeth and the spaces between gear teeth as the object surface requires that the field of view of the photosensor array 14 be larger than the pitch of the teeth, so that there is always at least a portion of one tooth in view. This ensures that there will be real surface contrast or image "texture" present with which to create a correlatable image. With gaps between the teeth creating regions returning little light to the sensor elements in the array 14 and teeth returning considerably more (gaps and teeth creating image contrast), reliable motion measurements can be obtained.
While a systematic pattern of features may be printed on the surface 16 of the object 18, random surface patterns are also preferred. A surface that provides an image with a random pattern of contrasts is preferred for use in tracking velocity over short displacements and/or navigation over short displacements based upon correlations of only slightly offset location images. A significant benefit of using random feature patterns in the "double correlation procedure" to be described below is that the resulting motion measurements are less susceptible to effects of slowly changing contamination or surface damage to the target pattern, since the affected target pattern will still be random and will be equally suitable for the correlation procedure.
FIG. 2 is an example of a systematic pattern of features, while FIGS. 3 and 4 are illustrations of random patterns of features on a surface of interest. In FIG. 2, the object surface 26 is shown as having a series of parallel lines with varying line spacings. There are ten cycles of spacings, with each cycle being defined by five lines. In addition, there are two diverging lines 28 and 30 which may be used to differentiate the cycles when a field of view is less than the entirety of the object surface. This permits an accurate and absolute position determination along the length of the surface. Prior to forming a time series of images of the surface in order to enable correlations of successive image frames, data that identifies the line pattern of FIG. 2 is stored in memory. Thus, double correlation processing is possible in real time during the interval for acquiring the time series of images. As an alternative, the double correlation processing may occur subsequent to acquiring the time series.
Systematic patterns of features other than the one shown in FIG. 2 may be utilized, but preferably the pattern includes variations that allow unique identification of each location along the pattern. For example, a repeating pattern may have a scale that changes with position in a way known to detection and interpretation algorithms of the system. Another possible example is a pseudo-random surface pattern that is defined by the superposition of line segments that are formed as wavy stokes with a line width that varies randomly between an upper limit and a lower limit.
FIG. 3 is a random pattern of printed spots on a surface 32. As an alternative to randomly positioned spots, the spots may be random in size, shape, orientation, density or color. Also shown in FIG. 3 is a non-rectilinear photosensor array 34. Such an array is particularly useful in applications such as determining the velocity of rotation of a shaft. The array may be shaped to a cylindrical coordinate system with the center of symmetry being at or near the axis of rotation of the shaft, with the random spot pattern being formed on a gear that is coaxial with the shaft. The use of a random pattern of spots allows the center of symmetry of the array 34 to be non-coaxial with the shaft or any possible symmetry of the random pattern.
Referring now to FIG. 4, the random pattern 36 may be "inherent structural features" of the surface of interest. For example, paper fibers, scratches and pits often render patterns of sufficient contrast to enable the double correlation processing, if properly illuminated. As previously noted, grazing angle illumination (i.e., an incidence angle of less than 16�) can reveal high contrasts. Grazing angle illumination is described in U.S. Pat. No. 5,686,720 to Tullis, which is assigned to the assignee of the present invention. On the other hand, smoother surfaces may exhibit little contrast when illuminated at an incident angle of less than 45�, but may provide sufficient contrasts when exposed to normally incident illumination.
The surface pattern 36 of FIG. 4 may be used to provide accurate measurements of relatively small displacements in two dimensions. A similar pattern with contrasts in only one direction would be suitable for measuring velocity or navigation in one direction. Contrast patterns may be due to high contrast printing or color variations. Still other surface patterns may be designed and manufactured using known technology in diffractive optics to create etched, molded or embossed reliefs in surfaces having pseudo-random patterns. An intentionally formed pattern may be a random distribution of pixel-like squares equivalent in size to a subarray of two-by-two pixels of the photosensor array or greater.
FIG. 5 is a process flow of steps for calculating velocity and/or navigation. The process may be used in hand scanning an original or in other applications. In step 38, pattern information is stored in memory. For example, a document can be scanned in order to form a map of features on an original, so that the map can be used for correlation purposes during real time acquisition of the time series of images. Alternatively, the pattern information may be acquired by means independent of the scanning process. In some cases, the scanned pattern might be that of printed data comprising a template or definition of a printed form.
In step 40, the first frame of image information is acquired using an imaging device, such as a photosensor array. Initially, the first frame is the reference frame that is used in the correlation processing.
While not critical, there is a preferred step 42 of correlating the first frame of image information with the stored pattern information. Since the pattern information may be used to uniquely identify any location within the region of interest (e.g., a scanned document), the correlation step 42 allows the process to establish a starting position within the region of interest. The accuracy of the correlation step 42 depends upon the capability of the imaging device to acquire sufficient image information to enable a comparison. The larger the field of view of the imaging device, the more reliable will be the correlation step 42. Similarly, the greater the differentiation within the pattern of features within the region of interest, the greater the reliability. If the correlation step 42 is not utilized, the starting position may be initialized by setting x=y=0. That is, the reference frame acquired at step 40 may be considered to have x and y coordinates set at 0.
In step 44, after a sampling interval, a new sample frame is acquired. The sampling interval between frames should be sufficiently short to allow imaged features to move no more than one pixel length during the sampling interval, in order to restrict the correlation search in step 46 to plus or minus one pixel in each direction. Embodiments are feasible in which sampling intervals are greater and the image motion between samples can be greater than one pixel, but this can require greater coherence length for the surface features, and may require more complex searching algorithms for correlation extrema. In step 46, correlation takes place between the sample frame stored at step 44 and the reference frame that was acquired in step 40 for the first time and step 54 thereafter. In step 48, correlation takes place between the pattern information stored in step 38 and the most recent sample frame acquired in step 44. The order of the correlation steps 46 and 48 is interchangeable. Correlations compare the positions of contrast pattern features that are stored or imaged. A nearest-neighbor correlation will be described more fully below with reference to FIG. 6. Comparing the reference frame to the sample frame is accomplished by first utilizing the reference frame to establish an array of templates that indicates nine possible directions of movement for the reference frame, including no movement at all. The count of nine positions is a result of using a rectangular array geometry, such that an image feature in one frame could feasibly move toward any of the nearest-neighbor positions, or not move at all. Correlation values are calculated. The calculation process applies equally with respect to correlating the stored pattern information from step 38 with one or more of the sample frames. For example, the stored pattern information may be used to generate numerous templates that are compared with the frames to establish correlation values. The correlation values of steps 46 and 48 represent the degree of similarity between each template and a sample frame.
In step 50, velocity or navigation information is calculated from the results of steps 46 and 48. Preferably, velocity is calculated only after the time series of sample frames has been acquired, rather than after each sample frame, unless the application demands otherwise. The accuracy and precision of the information acquired at step 50 is significantly enhanced by the double correlation processing of steps 46 and 48. By using prior stored pattern information in addition to providing comparisons between successive frames in a time series, motion tracking is both accurately and precisely identified.
The correlation values of steps 46 are used to find the locations of identical features in successive frames in order to determine the displacements (dx, dy) of the features from frame-to-frame. Summing or integrating these displacements and correcting for scale factors introduced through the design of the relevant optics determine the displacement of the imaging device as relative movement between the imaging device and the region of interest progresses. The process provides a high degree of correlation match and thereby a high degree of precision. Any errors that do occur will accumulate if calculating the correlation values is automatically and continuously followed by a step of shifting the present sample frame to the reference frame designation. In order to place a restriction on the growth rate of "random walk" error, the shifting of a sample frame to be a new reference frame for a subsequent series of correlation calculations can be performed less often. The object displacement between the locations of the less frequently shifted new reference frame is referred to as a "macrostep."
At step 52, the determination is made as to whether the sample frame acquired at step 44 should replace the reference frame acquired at step 40 for the subsequent series of correlation computations. If the accumulated displacement since acquisition of the reference frame at step 40 (or acquired at 44 and subsequently made a reference frame earlier at step 54) exceeds a predetermined number (n) of pixel lengths, the sample frame is substituted as the new reference frame at step 54. The new reference frame and the next sample frame acquired at step 44 are then used in implementing steps 46, 48 and 50. On the other hand, if the displacement is determined to be less than n pixel lengths at step 52, a second pixel length comparison occurs at step 56. A displacement of less than one pixel length since the last reference frame acquisition (acquired at step 40 or 44) or shift (at step 58) of a reference frame allows the process to return without effect on the reference frame to the step 44 of acquiring the next sample frame. However, if the displacement is greater than one pixel (but less than 2 pixels), the present reference frame is shifted at step 58 in the direction of the calculated displacement. For example, if the calculated displacement in steps 46-48 is one pixel length upward and one to the right, the present reference pixel is shifted in step 58 upwardly one pixel and to the right one pixel.
As an example of the implementation of steps 52, 54, 56 and 58, it will be assumed that the predetermined limit on the displacements that can occur before a new reference frame is established at step 44 is four pixel lengths. That is, n=4 in step 52. After each calculation of a displacement in steps 46-50, it is determined whether the accumulated displacement increments exceed four pixel lengths. If the accumulated displacement is less than four pixel lengths, step 56 determines whether the displacement is greater than one pixel length since the last shift of the present reference frame at step 58 or the last acquisition of a reference frame at step 40 (or acquired at 44 and subsequently made a reference frame earlier in step 54). A "no" determination at step 56 returns the process to step 44 without effect on the reference frame. A "yes" determination will result in a shift of the reference frame in step 58 in the direction of the calculated displacement. Following the shift, the next reference frame is acquired at step 44 and the shifted reference frame and the newly acquired sample frame are used in the correlation processing of steps 46 and 48. After a number of shifts of the present reference frame, the determination at step 52 will lead to a "yes" determination. As a result, the current sample frame becomes the new reference frame at step 54, and the process continues.
One embodiment of calculating correlation values will be described with reference to FIG. 6. A reference frame 60 is shown as having an image of a T-shaped structural feature 62. The size of the reference frame depends upon factors such as the maximum relative movement between the imaging device and the region of interest, the spatial frequencies in the imaging of the structural or printed features of the region of interest, and the image resolution of the photosensor array. A practical size of the reference frame 60 for a moving photosensor array that is thirty-two pixels (n) by sixty-four pixels (m) is 24�56 pixels.
At a subsequent time (dt), the photosensor array acquires a sample frame 64 which is displaced with respect to the reference frame 60, but which includes the same structural feature 62. The duration dt is preferably set such that relative displacement of the T-shaped feature 62 is equal to or less than one pixel of the photosensor array at the velocity of relative movement. An acceptable time period is 50 microseconds for velocities of as high as 0.45 meters/seconds at resolutions of twelve line-pairs per millimeter.
If the photosensor array has moved during the time period dt between acquiring the reference frame 60 and the sample frame 64, the first and second images of the T-shaped feature 62 will be ones in which the feature has shifted. While the preferred embodiment has a sample time that allows equal to or less than a full-pixel movement, the schematic representation of FIG. 6 shows the feature 62 as being shifted upwardly and to the right by one pixel. The full-pixel shift is assumed only to simplify the representation.
Element 68 represents a sequential shifting of the pixel values of a subframe 66 of the reference frame 60. The sequential shifting represented by element 68 provides an array 70 of templates in which the pixel values of subframe 66 are shown in eight different nearest-neighbor pixel positions. A ninth position is represented by no shift. That is, step "0" does not include a shift, step "1" is a diagonal shift upward and to the left, step "2" is an upward shift, etc. In this manner, the nine pixel-shifted templates can be combined with the sample frame 64 to produce the array 70 of template-to-sample comparisons. The position frame designated as "Position 0" does not include a shift, so that the result is merely a combination of frames 64 and 66. "Position 3" has the minimum number of shaded pixels, and therefore is the frame with the highest correlation. Stated differently, "Position 3" is the template-to-sample comparison with the greatest overlap of the two representations of the T-shaped feature 62 within the frames 60 and 64. Based upon the correlation results, the position of the T-shaped feature in the sample frame 64 is determined to be a diagonal rightward and upward shift relative to the position of the same feature in the earlier-acquired reference frame 60. In a scanning application using an inverting single lens, this implies that the scanning device has moved rightwardly and upwardly during the time dt.
Different correlation approaches may be implemented. One acceptable approach is a "sum of the squared differences correlation." For the embodiment of FIG. 6, there are nine correlation coefficients (Ck=C0, C1 . . . C8) formed from the nine offsets at element 68, with the correlation coefficients being determined by equation:
where Sij denotes the sensor-measured value at the position ij of the sample frame 64 and Rij, denotes the sensor-measured value at the subframe 66 as shifted at the element 68 in the k direction, with k being the identifier of the shift at element 68. In FIG. 6, k=3 provides the correlation coefficient with the lowest value.
In the more general case, the displacement of two successive frames will be a fraction of a whole pixel dimension in each direction such that it does not create the lowest possible minimum correlation coefficient at one of the eight outer template positions. In this case, it may be necessary to interpolate a subpixel displacement value. This can be done by calculating a "quadratic plus cross-terms" fit to the nine sums of square differences calculated above. The nine correlation values represent possible displacements in the eight compass directions and a null displacement. The true displacement is determined by calculating the position of the minimum value of the smooth regressively fit mathematical surface.
A similar approach may be taken in the correlation of the frames 60 and 66 of image information with the previously stored pattern information of the region of interest. That is, in FIG. 5, the correlation step 48 may be executed using techniques similar to the correlation step 46, but sometimes requiring correlation searches over many more than the above 9 nearest neighbors.
One application of the invention will be described with reference to FIGS. 7-9. A portable, hand-held scanning device 72 is shown as having followed a meandering path 74 along an original 76. The original may be a piece of paper, overhead transparency film, or any other image-bearing surface upon which contrast variations provide position information during navigation along the meandering path. Typically, the low intensity and high intensity features of the resulting contrast pattern are tracked and the navigation information is used to rectify image data. The scanning device is preferably self-contained and battery operated, but may include a connection to an external source of power or to data ports of computers or networks. These connections may be wireless, i.e., via infrared or radio links. The scanning device is shown as including a display 78 (which may be a video display), but this is not critical.
The scanning device 72 allows three degrees of freedom, with two being in translation and one in rotation. The forward face 80 of the device may include a pivoting member 82 that aids in maintaining proper contact between the original 76 and an imaging sensor 84. Navigation sensors 86 and 88 are located at the opposite ends of the imaging sensor. Because the navigation sensors are mounted on the pivoting member, the navigation sensors are in a fixed location relative to the imaging sensor.
The imaging sensor 84 is shown as a linear array of discrete optically sensitive elements. The spacing of the elements is one factor in determining the spatial resolution of the scanner 72. For example, a linear array having a length of 101.6 mm requires 1200 sensor elements to achieve a resolution of 300 dpi. The sensor may be a charged coupled device (CCD), an amorphous silicon photodiode array a CMOS array, an active photosensor array, or any other type of linear array sensor known in the art.
A key consideration in the design of the imaging sensor unit is speed. The imaging sensor 84 preferably is able to image each pixel at approximately 10K samples per second. If the scanning device is moved too quickly, the imaging operation will be adversely affected. An advantage of the velocity measurements that are obtainable using the process described with reference to FIG. 5 is that an indicator (not shown) may be added to the scanning device 72 in order to provide a warning that a recommended maximum speed has been exceeded. For example, information acquired using the navigation sensors 86 and 88 may be used in combination with previously stored pattern information to provide an accurate measure of velocity and to use the measure to trigger illumination of an LED to off when a velocity threshold has been exceeded.
The results of the sample correlation processing of FIG. 5 may also be used in the operation of the scanning device 72 to "stitch" the image information acquired using the imaging sensor 84 of FIGS. 7-9. The meandering path 74 is shown as having four and a fraction swathes, i.e., side-to-side passes across the original 76. The swathes should include regions of overlap, so that a stitching process can be used to produce a faithful reproduction of the original image. The reproduction is described in detail in the U.S. Pat. No. 5,578,813 to Allen, Tullis et al., which is assigned to the assignee of the present invention.
When applying the correlation processing of surface tracking using a time series of images of the region of interest having randomly distributed features, DC filtering and/or bandpass filtering may be used to increase the signal-to-noise-ratio of the correlation values. Any influences of pixel values that do not change significantly when the relative movement between the imaging device and the region of interest occurs can be filtered prior to the correlation process. Similarly, pixel values that change by an order of magnitude less than the majority of the other pixels are likely to be noise and can be filtered to provide improved correlation performance. In instances in which very little noise is present, it is useful to apply non-linear transformations (such as logs) to non-linearly compress the range of raw pixel value data, and to take powers of spatial gradients to expand the contrast values when a majority of the spatial gradients are small.
|Cited Patent
|Filing date
|Publication date
|Nov 1, 1991
|Sep 22, 1992
|Hewlett-Packard Company
|Substrate advance measurement system using cross-correlation of light sensor array signals
|Mar 2, 1995
|Nov 26, 1996
|Allen; Ross R.
|Freehand image scanning device which compensates for non-linear movement
|Jun 7, 1995
|Nov 26, 1996
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|Method and apparatus for modifying the spread of a laser beam
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|Becton, Dickinson And Company
|Apparatus and method for using optical mouse engine to determine speed, direction, position of scanned device and to obtain quantitative or qualitative data from same
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|Collapsible structure for optical navigation system
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|Method and apparatus for modifying the spread of a laser beam
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|Optical navigation device that utilizes a vertical cavity surface emitting laser (VCSEL) configured to emit visible coherent light
|Jun 21, 2005
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|Renishaw Plc
|Scale and readhead apparatus
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|Digital image acquisition system capable of compensating for changes in relative object velocity
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|Device for measuring sheet length and image forming apparatus
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|Input device for a computer system
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|Handheld printing with reference indicia
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|Signal averaging circuit and method for sample averaging
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|Method, apparatus, computer program and storage medium for recording a movement of a user unit
|Sep 8, 2006
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|Optical navigation device adapted for navigation on a transparent plate
|Jun 30, 2008
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|Stfi, Skogsindustrins Tekniska Forskningsinstitut Ab
|Device and method for measuring the velocity of a moving paper web
|Aug 31, 2009
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|Anden Co., Ltd.
|Electromagnetic relay
|Jan 11, 2008
|Sep 4, 2012
|Cypress Semiconductor Corporation
|Speckle-based optical navigation on curved tracking surface
|Jul 26, 2010
|Jan 1, 2013
|Cypress Semiconductor Corporation
|Optical positioning device using telecentric imaging
|Sep 30, 2008
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|Signal monitoring and control system for an optical navigation sensor
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|Mar 27, 2009
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|Cypress Semiconductor Corporation
|Dual protocol input device
|Jun 5, 2012
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|Decimated sliding windows for multi-reference prediction in video coding
|Apr 11, 2007
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|Method and apparatus for modifying the spread of a laser beam
|Mar 20, 2002
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|Chun-Huang Lin
|Method for detecting movement of image sensors
|May 16, 2003
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|Tong Xie
|Interferometer based navigation device
|Oct 6, 2003
|Feb 3, 2005
|Tong Xie
|Method and device for optical navigation
|Jul 30, 2003
|Feb 3, 2005
|Tong Xie
|Method and device for optical navigation
|May 12, 2004
|Apr 28, 2005
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|Method for detecting sub-pixel motion for optical navigation device
|Nov 4, 2003
|May 5, 2005
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|Apparatus and method for using optical mouse engine to determine speed, direction, position of scanned device and to obtain quantitative or qualitative data from same
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|Optical motion sensor
|May 9, 2005
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|Motion detection method
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|Burch Jefferson B
|Obtaining data from a utility meter using image-based movement tracking
|Jun 21, 2005
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|Microsoft Corporation
|Input device for a computer system
|Feb 17, 2011
|Avago Technologies Ecbu Ip (Singapore) Pte. Ltd.
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|Jul 28, 2006
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|Jan 6, 2010
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|Sep 30, 2009
|Apr 1, 2010
|Avago Technologies Ecbu Ip (Singapore) Pte. Ltd.
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|Jan 5, 2010
|Oct 14, 2010
|Avago Technologies Ecbu Ip (Singapore) Pte. Ltd.
|Absolute Verfolgung in einem Subpixelbereich
|Jan 20, 2010
|Sep 30, 2010
|Avago Technologies Ecbu Ip (Singapore) Pte. Ltd.
|Feb 24, 2010
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|Avago Technologies Ecbu Ip (Singapore) Pte. Ltd.
|Lichtstrahlformungselement f�r eine optische Navigationseingabevorrichtung
|Apr 26, 2011
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|Baumer Innotec Ag
|Optical sensor for, e.g. passenger car, has circuit unit that evaluates change of speckle or granulation patterns between signals from detector and determines information about change of object from change of patterns
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|Avago Technologies Imaging IP(Singapore) Pte. Ltd.
|System and method for optically detecting media feeding malfunctions in an image forming apparatus
|Jun 30, 2008
|Mar 17, 2010
|STFI, Skogsindustrins Tekniska Forskningsinstitut AB
|Device and method for measuring the velocity of a moving paper web
|Jun 30, 2008
|Jan 15, 2009
|Skogsind Tekn Foskningsinst
|Device and method for measuring the velocity of a moving paper web
|U.S. Classification
|250/208.1, 250/234, 250/235, 250/221
|International Classification
|Cooperative Classification
|European Classification
|Apr 12, 1999
Owner name: HEWLETT-PACKARD COMPANY, CALIFORNIA
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:TULLIS, BARCLAY J.;MCCOLLOCH, LARRY;REEL/FRAME:009886/0400
Effective date: 19990304
|Sep 11, 2001
|Oct 25, 2004
|Fee payment
Year of fee payment: 4
|Mar 31, 2005
Owner name: HEWLETT-PACKARD COMPANY, CALIFORNIA
Free format text: CLARIFICATION TO PATENT AND PATENT APPLICATION ASSIGNMENT;ASSIGNORS:HEWLETT-PACKARD COMPANY;AGILENTTECHNOLOGIES INC.;HEWLETT-PACKARD DEVELOPMENT COMPANY, L.P.;REEL/FRAME:015980/0943;SIGNING DATES FROM 20050119 TO 20050203
Owner name: HEWLETT-PACKARD DEVELOPMENT COMPANY, L.P., TEXAS
Free format text: CLARIFICATION TO PATENT AND PATENT APPLICATION ASSIGNMENT;ASSIGNORS:HEWLETT-PACKARD COMPANY;AGILENTTECHNOLOGIES INC.;HEWLETT-PACKARD DEVELOPMENT COMPANY, L.P.;REEL/FRAME:015980/0943;SIGNING DATES FROM 20050119 TO 20050203
Owner name: AGILENT TECHNOLOGIES, INC., CALIFORNIA
Free format text: CLARIFICATION TO PATENT AND PATENT APPLICATION ASSIGNMENT;ASSIGNORS:HEWLETT-PACKARD COMPANY;AGILENTTECHNOLOGIES INC.;HEWLETT-PACKARD DEVELOPMENT COMPANY, L.P.;REEL/FRAME:015980/0943;SIGNING DATES FROM 20050119 TO 20050203
|Sep 30, 2008
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Year of fee payment: 8
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Year of fee payment: 12


text:
Wahl 5567-200 Ear Nose and Brow Dual Head Trimmer
Product Description
- Personal trimmer for grooming ear, nose, and brow
- Precision ground blades
- Wet and dry operation
- Detail blade included
The Wahl Ear, Nose, and Brow Trimmer is the perfect tool for grooming, it removes unwanted hair from your nose, ears and eyebrow giving you a clean & defined look. It is a wet/dry personal trimmer that is cordless and battery operated. It rinses clean under running water. It comes with a rotating cutting head with professional quality cutting blades, a detail head and a protective cap. The trimmer is compact, lightway and safe.

subset: commoncrawl


text:
Helpful (2)
"Poor manager but a great organisation "
- Work/Life Balance
- Career Opportunities
- Comp & Benefits
- Senior Management
A very driven organisation. A huge variety of roles and positions throughout the organisation, with highly talented and very intelligent workforce. Final salary scheme pension, and very good facilities.
Conflicting directions of various departments and internal politics lead to contradictory messages internally. The organisation as a whole appears unfocussed and lacking in a clear, uniform direction (though this could also be a benefit as well!). No ability for employees to provide formal (or anonymous) feedback on their managers during personal development sessions.
Advice to Management
Provide better mechanisms for your employees to provide feedback on their managers. The current system doesn't work! Better communication between departments is vital.
Other Employee Reviews for Wellcome Trust
Helpful (2)Doesn't RecommendNo opinion of CEO
- Interesting work - Flexible working - Mixed groups - Nice location - Good reputation and good for CV - Struggling for much more!
- Some low quality people hiding for a log time there - Sucking up to senior managers by some people who need career advancement - Poor technology - Political colleagues - the most political group of people I've worked with - Cliquey
Advice to Management
Have a look at what's going on!
"Great place to work "
RecommendsPositive OutlookApproves of CEO
- Work/Life Balance
- Culture & Values
- Career Opportunities
- Comp & Benefits
- Senior Management
I worked at Wellcome Trust full-time
Intelligent colleagues all working towards shared aims. Great benefits and reasonable salary. Fantastic mission anyone could get behind.
Many egos at work. Hierarchical decision making. It can be Hard to break out of the 'box' you are assigned to.
Advice to Management
Don't just pay lip service to encouraging employee participation in decision making; respect their knowledge, experience, and genuine desire to help.


text:
Quercus Publishing, Sep 12, 2013 - Biography & Autobiography - 464 pages
Hollywood superstar; Oscar-winning director; greatest stage actor of the twentieth century. The era abounded in great actors - Gielgud, Richardson, Guinness, Burton, O'Toole - but none could challenge Laurence Olivier's range and power.
By the 1940s he had achieved international stardom. His affair with Vivien Leigh led to a marriage as glamorous and as tragic as any in Hollywood history. He was as accomplished a director as he was a leading man: his three Shakespearian adaptations are among the most memorable ever filmed.
And yet, at the height of his fame, he accepted what was no more than an administrator's wage to become the founding Director of the National Theatre. In 2013 the theatre celebrates its fiftieth anniversary; without Olivier's leadership it would never have achieved the status that it enjoys today.
Off-stage, Olivier was the most extravagant of characters: generous, yet almost insanely jealous of those few contemporaries whom he deemed to be his rivals; charming but with a ferocious temper. With access to more than fifty hours of candid, unpublished interviews, Philip Ziegler ensures that Olivier's true character - at its most undisguised - shines through as never before.
What people are saying - Write a review
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Review: OlivierUser Review - Kris - Goodreads
I adore Olivier and the history of 20th century English theater, but this book isn't what I'd recommend for a novice in that area of interest. It is obvious that much research and access to personal ... Read full review
Review: OlivierUser Review - William - Goodreads
There is much that is impressive about this biography. Ziegler has done an enormous amount of research and this will probably long serve as the signature biography of Laurence Olivier. The reader gets ... Read full review


text:
Cotisations employeurs, cotisations employés et emploi. Qui doit financer les dépenses sociales?
L'objet de cet article est d'étudier l'impact de la répartition de la charge des dépenses sociales entre employeurs et employés sur le coût du travail et sur l'emploi. À cet effet, on utilise un modale de négociations salariales, auquel on intègre une condition d'équilibre budgétaire des comptes sociaux. Il apparaît que l'incidence de la répartition dépend du degré de centralisation des négociations. Ainsi, si les cas polaires de décentralisation totale et de centralisation parfaite permettent de retrouver le résultat usuel de la littérature, à savoir l'absence d'effet de la répartition du financement des dépenses sociales sur l'emploi, la situation de centralisation partielle fait en revanche apparaître un impact de cette répartition. On montre alors qu'une augmentation de la part financée par les cotisations employeurs a un effet favorable sur l'emploi.
If you experience problems downloading a file, check if you have the proper application to view it first. In case of further problems read the IDEAS help page. Note that these files are not on the IDEAS site. Please be patient as the files may be large.
|Date of creation:
|01 Dec 2004
|Date of revision:
|Contact details of provider:
| Postal:
Fax: +32 10473945
Web page: http://www.uclouvain.be/ires
More information through EDIRC
References listed on IDEAS
Please report citation or reference errors to , or , if you are the registered author of the cited work, log in to your RePEc Author Service profile, click on "citations" and make appropriate adjustments.:
- Pissarides, Christopher A., 1998.
"The impact of employment tax cuts on unemployment and wages; The role of unemployment benefits and tax structure,"
European Economic Review,
Elsevier, vol. 42(1), pages 155-183, January.
- Christopher Pissarides, 1997. "The impact of employment tax cuts on unemployment and wages : the role of unemployment benefits and tax structure," LSE Research Online Documents on Economics 2332, London School of Economics and Political Science, LSE Library.
- Christopher A. Pissarides, 1997. "The Impact of Employment Tax Cuts on Unemployment and Wages: The Role of Unemployment Benefits and Tax Structure," CEP Discussion Papers dp0361, Centre for Economic Performance, LSE.
- Lawrence H. Summers & Jonathan Gruber & Rodrigo Vergara, 1992.
"Taxation and the Structure of Labor Markets: The Case of Corporatism,"
NBER Working Papers
4063, National Bureau of Economic Research, Inc.
- Summers, Lawrence H & Gruber, Jonathan & Vergara, Rodrigo, 1993. "Taxation and the Structure of Labor Markets: The Case of Corporatism," The Quarterly Journal of Economics, MIT Press, vol. 108(2), pages 385-411, May.
- Alberto Alesina & Roberto Perotti, 1994.
"The Welfare State and Competitiveness,"
NBER Working Papers
4810, National Bureau of Economic Research, Inc.
- Alesina, Alberto & Perotti, Roberto, 1997. "The Welfare State and Competitiveness," American Economic Review, American Economic Association, vol. 87(5), pages 921-39, December.
- Hersoug, Tor, 1984. "Union Wage Responses to Tax Changes," Oxford Economic Papers, Oxford University Press, vol. 36(1), pages 37-51, March.
- Perotti, Roberto & Alesina, Alberto, 1997. "The Welfare State and Competitiveness," Scholarly Articles 4553027, Harvard University Department of Economics.
- Lockwood, Ben & Manning, Alan, 1993. "Wage setting and the tax system theory and evidence for the United Kingdom," Journal of Public Economics, Elsevier, vol. 52(1), pages 1-29, August.
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St. James' Episcopal Church in Pewee Valley recently welcomed a new rector, the Rev. Jim Trimble.
Trimble is a Louisville native who worked in public broadcasting before becoming an Episcopal priest.
A graduate of Waggener High School and Murray State University, Trimble worked at several public radio stations in Kentucky and North Carolina.
He began seminary studies in 2002 at the Episcopal Theological Seminary of the Southwest in Austin, Texas, graduating with a master of divinity degree. He was ordained a priest in December 2005.
Trimble served as rector of St. Mary's Episcopal Church in Madisonville and as associate rector at St. Matthew's Episcopal Church in Louisville.
He and his wife, Sarah, have a 6-year-old son, Riley, and live in Crestwood.
He began his parish life at St. James' in March.
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Details about CIT Templar Micro ATX Black Interior Mesh Tower PC Case 500W 12cm Black PSUSee original listing
Item condition:
30 Jul, 2012 20:15:13 BST
Item location:
Stoke on Trent, United Kingdom
1/1Feedback on our suggestions
New: A brand-new, unused, unopened and undamaged item in original retail packaging (where packaging is ... Read moreabout the condition
|Form Factor:
|Midi Tower
|PSU Max. Output Power:
|500 Watt Power Supply
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Goods Damaged During Delivery If any items were damaged upon delivery we ask that you report it to us within 7 working days. If the items are visibly damaged on receipt the goods should be refused and signed as damaged returned. Items should be returned in their original packaging complete with all accessories and documentation. Once received back into our warehouse, we'll issue a replacement or full refund to you. Goods Faulty Immediately after Delivery. If your goods are faulty on arrival, you have 28 days in which to inform us of the fault. Items should be returned in their original packaging complete with all accessories and documentation. Once we have verified the fault, we'll issue a replacement or full refund to you. We test returned items, and if a returned item is found not to be faulty by our technicians we will return the item to you, in this instance you will be liable for the return carriage charges. Goods Faulty During Warranty Period. If any of your purchases develop a fault then provided your item is within its warranty period, you are entitled to a warranty repair. Some manufacturers provide a specialist full onsite service which we recommend you use in order to correct the fault quickl Open Box / Used / Refurbished Goods. Please note that our open-box and Used stock is sold with 30 days warranty only, and therefore any claims under the warranty after 30 days of receipt will not be accepted. If you change your mind. f you have simply changed your mind about any item ordered and you wish to return it, then in line with the Distance Selling Regulations you can do so provided you inform us of your decision within 14 working days of receipt. The item must not be used and must be 'as new' when returned to us. Once you've informed us that you wish to return goods you have 28 days to do so, at your own expense. Once the item is received, we'll issue a full refund for the goods.
Most purchases from business sellers are protected by the Consumer Contract Regulations 2013 which give you the right to cancel the purchase within 14 days after the day you receive the item. Find out more about your rights as a buyer - opens in a new window or tab and exceptions - opens in a new window or tab.


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#659 of 1077
Cottonwood, AZ
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Expert Printing and Assembly
Shipping Within 2 - 3 Business Days
Millions of Satisfied Customers
Inside Jackrabbit Trading Post
Priscilla Burgers
Photograph - Photography
When Route 66 came through Joseph City, Arizona, the town was just a quiet stop for services until after World War II, when people really began to travel. It was during this time that James Taylor built the Jackrabbit Trading Post in 1949. In the beginning, Taylor bought an asphalt-shingled shack that had formerly been used as a snake farm and then he turned out all the snakes, much to the alarm of several area residents. Soon, he began to revamp the building, with dancing chiefs painted on the front, 30 twelve inch jack rabbits hopping along the roofline, and a large rabbit painted on one side of the building. He then installed a large composition jackrabbit to welcome the many tourists stopping by. Many an old time traveler can tell a story of having their picture taken atop this rabbit when they were a child. Inside, the counters and shelves were lined with pieces of petrified wood, turquoise jewelry, and Indian souvenirs.
Owning a Trading Post in those days just wasn't enough. Dotting the highway, they were a dime a dozen and competing with the nearby Geronimo Trading Post, with its visual pulling power of large decorative teepees, Taylor had to do something more. Joining forces with Wayne Troutner, owner of the For Men Only Store in Winslow, the pair traveled Route 66 to Springfield, Missouri plastering billboards all along the way. Hopping rabbits paired up with a dancing cowgirl for more than 1,000 miles, enticing travelers to stop at the Jackrabbit and the Men's Only Store in Winslow. After all those miles, travelers couldn't miss the huge yellow sign that simply said "Here It Is" paired with its famous jackrabbit icon.
Obviously, Taylor's tactics worked because the Jackrabbit is still in business and has long since become a Route 66 legend. For two decades Taylor operated the post until he leased it to Glen Blansett in 1961. Blansett purchased the business in 1967. When the freeway was built in 1969, Blansett was determined not to let the Jackrabbit die like so many other Route 66 businesses had. A family member who was a US Senator agreed to release the land near the Jackrabbit only if an interchange was put in nearby. The Jackrabbit was saved. Blansett passed the business on to his son and daughter-in-law who eventually sold it to their daughter and son-in-law, Cynthia and Antonio Jaquez, who run the trading post today.The trading post has changed hands a number of times, but retains a lasting appeal for tourists. Its present owners stock everything from soda, toys, and Route 66 trinkets to yellow "Jackrabbit" underwear carrying its famous symbol.
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Montrose, CO - United States
Been there many times! Great shot! Good food! promoted!
Priscilla Burgers replied:
Thank you very much, Janice.
Landshut, Ba - Germany
Unfortunately it was closed when we arrived there during our October trip last year. We'll be back ... :-) Thanks for all the information. And the nice James Dean shot as well. Ellen & Udo
Priscilla Burgers replied:
You're welcome. I hope you get to go inside. It's wonderful, as are the owners.
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Beverly Hills, CA (United States)
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BUDGET BUNGALOW - PEACEFUL OASISDominican RepublicPuerto PlataCabarete
About this listing
Our goal - refuge for those who want a simple, relaxing and safe environment. People arrive here for a variety of reasons. Water sports, tours or just get away from it all. No matter why you are on vacation, recharge after having a wonderful day.
Space where guests can cook their own meals
Towels, bed sheets, soap, and toilet paper
The Space
Please contact us for availability even if our calendar shows booked.
Our brand new suites are most refreshing. They surround one half of a free form pool that is equipped with enough pool toys to keep both the young and young at heart entertained for hours. Comfortable loungers are available for those who would like to relax in the shade or work on their tan.
Our property offers a place to relax away from it all and is only a few minutes from world class beaches and attractions. You will be away from the crowds in a very comfortable, private and secure environment.
If activity is required then Breezes central location will allow easy access to a variety of outstanding activities that will be sure to satisfy the most demanding enthusiast. Best of all, they are all located within a short 10 minute drive!
•The dreamy sands of Sosua Bay offer fantastic swimming, snorkeling and diving opportunities.
•Encuentro Beach is considered one of the best surfing spots in the Caribbean.
•Kite Beach is consistently ranked as one of the best wind surfing spots in the world by a variety of sources. The world's largest kite surfing competition is hosted by Cabarete each year.
•Water activities galore! Sailing, wind surfing, paddle boarding, deep sea fishing … the list goes on.
•A wide range of eco-tours can keep the adventurer in you busy for days. Waterfall tours will immerse you into the Dominican wilderness that is largely undiscovered by most tourists.
•Mountain bikers can find causal rides over flat stretches with spectacular views to extreme tracks for the not so faint of heart.
•Even world class golf can be found less than an hour away.
•The eclectic surf village of Cabarete hosts the longest running jazz event in the Dominican Republic each year. The event is a free and features some of the world's best Latin jazz groups and musicians.
•Our concierge services can help you arrange private beach picnics, catering, transportation and planning for your events.
Imagine feeling the sun and breeze rejuvenating your senses while you are floating in the pool with your favorite blender drink that was mixed to perfection! All of this is just steps to where you'll be dining alfresco on your own private patio.
You enter your personal retreat through the patio. It is tastefully appointed with bamboo privacy screens and furniture. It is a wonderful place to relax with your favorite wine that is being chilled by the terracotta wine cooler. Picture yourself sitting on the patio sipping a favorite drink while family and friend's splash in the pool!
From your patio you enter into the living room which has sufficient seating for visiting, relaxing, reading or watching TV. The couch folds down into a comfortable double bed for additional quests. Sports fans don't have to miss their favorite game!
A fully equipped kitchen which provides all the amenities you need. You can host a full dinner party with serving for 4 people. The fridge and freezer will keep all of your tropical treats fresh for flavorful snacks. Of the many appliances, the blender will allow you to make all of your favorite tropical drinks. It will feel just like home but better!
The bedroom contains a comfortable pillow top queen size bed with fresh hotel quality sheets that will welcome you after a long day. Bedside tables, reading lamps, digital safe and a closet for your luggage all add to your comfort and security. Windows let in refreshing tropical breezes.
The bright and roomy bathroom contains a vanity with sink with overhead lights, toilet and refreshing shower. These amenities are tastefully surrounded by a variety of local earthen tone tiles.
Complimentary onsite laundry facilities will help you keep everything fresh while saving you time and money.
We are pet friendly. In fact, pets stay for free! Imagine being able to travel with your pet knowing that our optional pet sitting service will take care of your loved one if you need to be away during your stay. We have yet to find a beach, restaurant or bar that does not welcome our four legged friends!
Do you have others traveling with you? We can keep your group all together while maintaining your individual privacy. Let us know how we can assist with your group activities.
Volunteer vacation participants are diverse but typically share a desire to "do something good" while also experiencing new places and challenges in locales they might not otherwise visit. We assist local organizations attract volunteer participants by donating a portion of their booking fees to their organization. Ask us how we can help!
We try to be as sensitive to the environment as we can. Our pool systems are solar powered and the water is kept sparkling clean with the same purification technology that was originally developed by NASA for use in outer space. Very few chemicals are required. Even your hot water is heated by the sun! We also have a backup inverter system to keep your suite lit up 24 hours a day if the power ever goes out.
Guest Access
We take safety very seriously.
Our community has secure gated access that requires a visitors pass for entry. Roving and stationary security patrols 24 hours a day, 7 days/week.
Our property is fully fenced, well lit and has gated access.
Staff is on site 24 hours per day.
Please enjoy your Bungalow in addition to the common areas associated with the patio, pool, gardens, and parking.
Interaction with Guests
Our goal is to provide a refuge for those who want a simple, relaxing and safe environment.
No matter why you are on vacation, we want you to take advantage of amazing world class attractions knowing you can rest and recharge after having a truly wonderful day.
In response to our efforts, virtually all comments from our guests focus on the following categories:
•We listen and pay attention to your needs, wants and concerns.
•Our assistance with details or problems allows you to focus on your vacation not distractions.
•Our motto GIVE US THE REASON – WE DO THE REST allows us to help you have a worry free vacation.
•Clean spacious bungalows.
•A fully equipped kitchen will allow you to prepare full course meals and keep all of your tropical treats ready for enjoyment.
•Your new queen size pillow top bed welcomes you after a long day at the beach.
•Tired of staying in a fish bowl?
•We have private poolside patios that let you view and enjoy activities inside your suite and at the pool without the prying eyes of many neighbors.
•Your retreat is away from it all and yet is within a few minutes' drive from many world class attractions. Bars, beaches, restaurants and tours add up to fun!
•We take safety very seriously. Our community has secure gated access that requires a visitors pass for entry. Roving and stationary security patrols 24 hours a day, 7 days/week.
•Our property is fully fenced, well lit and has gated access.
•Staff is on site 24 hours per day.
The Neighborhood
Puerto Plata International Airport (POP) is around 20 minutes by car. Shuttle transportation to and from the airport is complementary.
Our large gated community has many international residents. The gently sloping hillside ensures that there is always a cool sea breeze, providing a comfortable climate all year round.
Cabarete is a small, laid-back Caribbean beach village. It's a perfect tropical vacation spot. With its charming, hip ambiance and a combination of relaxed and adventurous lifestyles, most visitors can barely resist the spontaneous temptation of extending their stay and even move here permanently like we did.
One of the biggest sports on the North Coast is surfing. Cabarete also hosts the World Kite Surfing Championships every year. The area is well known as a world class kite surfing destination and has been ranked among the world's best. The natural conditions make Cabarete a preferred beach by kite surfers the world over. Several kite surfing schools are located right on the beach for those who want to perfect their skills or take up this extreme sport.
Diving is also very popular near Sosua. In this area you will find reefs, canyons, shipwrecks, and gardens. Average water temperatures are about 80 degrees, and dive depths are usually 50 to 130 feet. The area of Playa Grande, about an hour and a half away, also features the Gri Gri lagoon for snorkeling.
A colorful historical story of one shipwreck is the Concepción. The North Coast tossed this Spanish galleon into the Silver Banks about 60 nautical miles from Puerto Plata. The ship carried a cargo of freshly minted silver coins. An American with British support recovered about 69,000 pounds of it in 1689. It was not until 1979 that an American teamed up with the Dominican government to recover tons of silver that remained (they split the findings 50/50).
During the first 3 months of each year thousands of humpback whales migrate to the waters of the Dominican Republic each winter to mate and give birth. One of these gathering places is Samana Bay. More than 1,500 humpbacks visit the bay, with as many as 300 present at any given time during mating season. The World Wildlife Fund considers Samana Bay one of the best places in the world to watch whales. The outer bay is where you might find aggressive males competing for the favors of willing females and the sheltered inner bay is one of the most important humpback nurseries in the world.
Puerto Plata is the ideal location for a great sport fishing vacation. Boats, gear and great service from friendly English speaking crews is what you'll find here. The catch: Blue Marlin July - September, White Marlin April - June, Mahi Mahi October - March, Wahoo October - January, Sailfish October - March.
This is a tour that should not be missed during your stay. Located on the top of Mount Isabel this cable car offers you the beautiful panoramic ocean view and surrounding areas of Puerto Plata. It is one of the picturesque and most impressive excursions that can found in Dominican Republic. On top of the mountain you will find botanical gardens, a statue of Christ (similar to the one in Rio de Janeiro, Brazil), a restaurant and several souvenir shops.
Getting Around
Getting around is not a problem. While renting a car is not necessary, it is recommended to give you the most flexibility. A variety of easily accessed inexpensive public and private transportation alternatives also exist. To help you focus on your vacation and not have to worry about the details, we offer complimentary airport shuttle and assist where possible with your daily transportation needs.
Other Things to Note
•The quiet and secluded nature of the property invites privacy, rest and relaxation. Imagine going to sleep with the gentle sound of the whispering breeze rustling the palms. No urban noises will be disturbing the sound of the birds when you enjoy your early morning coffee on the patio.
•Each of the 4 poolside bungalows allows independent living. They sleep up to 4 and include a fully equipped kitchen and private pool side patio. You will have all the comforts of home!
•Direct pool visibility and access. Take comfort in the fact that your friends and family will all be together no matter if you are in the suite, on the patio or in the pool.
•After a day of having fun, relax inside or outside. No need to be cooped up in your room.
•Stay connected with complementary wireless internet that can be seamlessly accessed from the pool, patio or your bedroom.
•Pets are welcome and a pet sitting service is available. Concerns about allergic reactions by non pet owners are minimized by tile floors and high cleaning standards.
•Rest easy since you are located in an affluent gated community with round the clock security.
•Participate, enjoy, relax, rejuvenate – the choice is yours!
•Breezes offers a stress free and relaxing environment just minutes away from some of the best attractions the Caribbean has to offer.
Our independent reviews can be found on many of the popular vacation rental websites. They excite and encourage us to continue to pursue and improve upon our vision of providing a refuge for those who want a simple, safe, peaceful and relaxing environment.
"Our stay was wonderful! … Plan to come back. Highly recommended!"
"Your attention … makes us feel comfortable … right at home"
"The peace and quiet and the isolation … invites relaxation and renewal!"
"What a place, and what splendid hosts they are."
"Well done and enjoy your stays with these wonderful people."
"The place was very romantic and peaceful."
"Any problems I had they always went the extra mile to help."
"… more than willing to cater to your request ...."
"All you have to do is unpack."
"Perfect name for a perfect place"
"Breezes is a true tropical paradise"
"I left them feeling like I had just made 2 new friends."
"I highly recommend it, and will definitely return."
"I promise; you will enjoy your stay just as much as I did."
Thank you for learning about Breezes!
We offer our suites individually to people on business trips or vacations on a nightly, weekly or monthly basis. The minimum stay is 3 nights.
You can rent the entire property for your group. Volume discounts are available if 2 or more suites are rented at the same time. Resort buyout is available.
Take advantage of our concierge services by telling us what you would like to do while you are our guests. We can arrange catering, transportation and a wide range of tours and activities.
Volunteer Tourism
Volunteer Organizations
Family Reunions
Missionary Groups
Production Crews
Traveling Medical Groups
Golf groups
Corporate Retreat
DINNER SERVICE FOR 4 (each bungalow)
4 Reviews
About the Host, Teresa
After spending years in business my husband and I decided to pursue our dreams and tackle our 'bucket list'. One of our passions is traveling and we have toured extensively throughout the Mediterranean and Caribbean. In addition, we have enjoyed camping for many years so we decided to take it a step further and spent 2 years seeing North American by motor home. After that adventure, we decided to settle down and operate a small resort in the Caribbean.


text:
Louisville, Kentucky (PRWEB) July 26, 2014
We've all heard about athletes sustaining concussions on the playing field; however, concussions in the workplace are among the most serious on-the-job injuries. The occupations with the highest risk of head injury are:
"Most workplace head injuries are caused by falling objects, slip and falls, malfunctioning or broken equipment, or workers who hit their heads on objects on the worksite," said KORT Director of Sports Medicine Doug Means, M.A., ATC. "A concussion occurs following a significant blow to the head which forces the brain to push through the protective fluid between the skull and the brain causing bruising."
According to Means, the amount and degree of symptoms very greatly among patients and are not directly related to the severity of injury.
"Some symptoms show up right away and resolve quickly. Others may not appear until the next day and may persist for longer," said Means. "If you've experienced a blow to the head it's always best to consult a physician right away to dete
|Source: PRWeb
Copyright©2014 Vocus, Inc.
All rights reserved


text:
Blog | pictures
Degrassi Party Pictures from Los Angeles!Posted on 02/14/2012 by Lisa
I had a ton of fun at the Degrassi Party at Universal Citywalk in LA last night, and I met lots of fans, and everyone was soooo nice. I think the best part (in my opinion) was watching the episode together on a huge screen. I wish I could invite hundreds of people over to watch every episode with me, because it's much more exciting that way!
Here's a collage of pics from the LA Party, including photos by: @yao93, @Sassshaaaaa, @spym92, @SmileMilanniee, @Ms_MunroLover14, and me!
If you go to any of the other Degrassi parties this week, PLEASE TAKE PICTURES! Tweet @TeenNick if you get good ones and want to share them!
Who wants more pics from Degrassi: Nowhere to Run?Posted on 11/15/2011 by Lisa
You guys seemed pretty psyched about the Degrassi pictures I posted last week, so here are a few more...
THIS is how Marisol dresses to hang out in the woods? I hope she's wearing bug spray.
At least Alli brought an air mattress. (Is every air mattress ever made that army green color? I'd rather have a pink one.)
I'm proud of Katie for wearing mismatched clothes and her hair in braids. This is how you dress for the woods, Marisol!
If this were a horror movie, that cooler would be full of body parts!!! Just sayin'.
What are you doing on Friday? Because I heard there's a party going on at Jake's cabin... Degrassi: Nowhere to Run. TeenNick. Friday. 9pm et.
p.s. Have you seen this Nowhere to Run flipbook? It's got even MORE photos!
Pictures from Degrassi: Nowhere to Run!Posted on 11/11/2011 by Lisa
Sometimes for work, I have to look through lots of pictures and pick out the cutest ones.
I found some VERY cute pictures of Aislinn Paul (Clare), Luke Bilyk (Drew), Alicia Josipovic (Bianca) and Munro Chambers (Eli) on the set of Nowhere to Run. Here they are, nice and big.
If Clare's mom marries the cabin's owner, does that mean Clare and the cabin can't date?
Drew looks happy to be at the cabin... at least while it's light out.
If I had a cabin, I would totally let Bianca visit. (I bet she could protect me from the bears.)
When you're in the country, it's important to always have a farm animal on your shirt. Right, Eli?
See all that cuteness in action next Friday! Degrassi: Nowhere to Run is coming to TeenNick, Friday, Nov. 18 at 9pm et.
Congratulations, Degrassi Class of 2011!Posted on 08/30/2011 by Lisa
Want to see some pictures from Degrassi's graduation? Here you go. (Possible visual spoilers if you haven't seen "Take a Bow, Pt. 2" yet.)
Holly J, you've come so far.
Anya and Riley, please stay friends forever.
Anya, Chantay, and Holly J -- thanks for the memories and the handprints.
Zane, it's so sad to see you go.
Sav, Chantay, and Holly J, please come back and visit!
I love this pic. Thank you ALL for everything you brought to Degrassi. *tears up*
Super Sneak Peek: Future Degrassi Characters!Posted on 08/15/2011 by Mary
Maybe you saw the article on EW.com about Cassie "Manny" Steele's little sister, Alex Steele, joining the Degrassi cast as a niner who will debut some time in the future? Well, now you're getting a peek into a crystal ball: here's Alex as Tori (on the right) with fellow new niner Olivia Scriven as Maya (on the left).
Olivia Scriven as Maya and Alex Steele as Tori, Degrassi Niners of the Future. Photo Stephen Scott/Epitome
A Tribute to ZileyPosted on 07/28/2011 by Lisa
Don't read any further unless you've already seen "Dirt Off Your Shoulder, Pt. 2."
I sometimes take notes as I watch Degrassi to keep track of the things I want to write about, and the main note from tonight's ep (aside from a few things about Eli and Imogen) was the word ZILEY written in giant letters. Giant sad letters.
I can't bring myself to rewatch that scene at the Dot. I'm tearing up just thinking about it. Ziley (or Rane, whatever you want to call them) are one of my all-time favorite Degrassi couples. I'm still using the present tense, because I'm not ready to accept that they're over. ...and now I'm tearing up as I type. Seriously. I'm a sad little blogger tonight, so instead of writing a thoughtful post about the whole episode, I'm going to post a bunch of pictures of Ziley in happier times.
Zane (aww, look at his messy hair) and Riley.
Panthers. :)
Ziley kiss!
Ziley makes me sigh-ly.
Zane and Riley in suits... because they *suit* each other.
Think they'll ever reunite? (Just tell me yes. I'm crying here.)
Happy 4th. Two More Weeks 'Til Degrassi...Posted on 07/04/2011 by Mary
Happy 4th of July...
Two more weeks 'til new Degrassi.
Dave from Degrassi, lighting up the night.
Degrassi: Behind the FireworksPosted on 06/10/2011 by Mary
We have a new Ryan this summer (everyone should have a Ryan -- they're very good to have around) and he took some of the behind-the-scenes footage from the Degrassi: Now or Never teaser shoot (aka: the fireworks promo) and put this together for you.
Wasn't that thoughtful of him?
I like it. Particularly watching Munro, Jahmil, and Ray doing their little bonfire dance.
Oh, summer. I hope you have lots of bonfires in you this year, because I want to set off bottle rockets with my friends and feel nice nice like in the video.
Behind the scenes at the Degrassi fireworks promo shoot
iParty with Victorious: Orange Carpet StylePosted on 06/10/2011 by Lisa
A special crossover episode of iCarly and Victorious airs Saturday at 8pm on Nick. The episode is called "iParty with Victorious," and Nick threw a party to celebrate the premiere.
Here's Miranda Cosgrove and Victoria Justice, all prettied up:
Jennette McCurdy (iCarly) and Daniella Monet (Victorious), looking classy:
and iCarly's Nathan Kress and Victorious' Avan Jogia:
So... whose outfit do you like best? I think Victoria's pants are cute. (Swimming pool blue is my favorite color.)
Buffy: First Spike Episode!Posted on 06/08/2011 by Mary
Tonight at 10... the Buffy episode "School Hard" is on -- the one where we first meet the platinum-haired, "thorough, goal-oriented", scary-hot vampire slayer-slayer who "doesn't stop until everything in his path is dead" (orrrr until he falls in love with a slayer... spoiler alert!) Spike, aka William the Bloody, aka this guy:
Spike, the Vampire
Not to be confused with the other Spike, from Degrassi:
Spike, the original Degrassi teen mom
Even though they both have truly inspired hair from the best pages of the '80s. But one tortured his victims with railroad spikes and has a creepy undead girlfriend named Drusilla, and one was a teen mom who gave birth to Emma and married Principal Simpson. Different strokes, different folks.
We know this can be a difficult distinction to remember; let us know if you have any questions.
Blogs By Topic
- Worst Babysitter Ever
If you see her coming, run the other direction! She's the Worst. Babysitter. Ever.


text:
Trading and Money Management in a Student-Managed Portfolio
- Brian Bruce, Finance professor at Baylor University, Editor-in-Chief of the Journal of Trading, and Editor-in-Chief of the Journal of Investng
- Jason Greene, Department of Finance, College of Business Southern Illinois University
Developed specifically for SMIF courses, the book features calculations, examples, and software that help you move from talking about markets to taking positions in them.
AudiencePrimary audience: undergraduates and graduate (MBA) students taking classes associated with student managed investment funds. Secondary audience: MBA students studying asset management and portfolio management.
Book information
- Published: November 2013
- Imprint: ACADEMIC PRESS
"The Bruce and Greene text provides a comprehensive toolkit for the practical management of a student managed investment fund, including many detailed examples taken from real world funds. It thoroughly covers all of the major topics in leading investments texts, but supplements theory with realistic practical application."
Table of Contents
Chapter 1: Investment Philosophy and Process
Chapter 2: Organization
Chapter 3: Security Selection
Chapter 4: Portfolio Construction
Chapter 5: Presentations
Chapter 6: Performance Evaluation and Reporting
Chapter 7: Tools
Chapter 8: Student Forums, Symposiums, and Competitions
Chapter 9: Student-Managed Funds: Present and Future


text:
This bundle includes:
by Paul Ruditis, AmcIntroduction by Robert Kirkman
Harry N. Abrams
September 1, 2011
Trade Paperback
The Walking Dead Chronicles: The Official Companion Book is the only authorized, behind-the-scenes guide to Season One of the white-hot new AMC television series, The Walking Dead, which tells the story of a sheriff's deputy leading a band of survivors in a post-apocalyptic world overrun by the undead.
Focusing on the making of the first season of the Golden Globe–nominated TV show, as well as the creation of the New York Times bestselling comic book on which the series is based, The Walking Dead Chronicles is lavishly illustrated with never-before-seen unit photography, storyboards, set designs, makeup and visual effects shots, and page-to-screen comparisons of the comic and TV show. Featuring new interviews with series creator Robert Kirkman and executive producer Frank Darabont, as well as the cast and crew, the book also includes sidebars that serve as a detailed episode guide, reproducing excerpts from early drafts and final scripts, and revealing new directions for the second season and beyond.Praise for the Walking Dead Chronicles:
"Paul Ruditis provides an interesting and insightful look at both the comic book and TV series. . . . The text is filled with thoughtful commentary from the cast and crew, as well as an eye-catching assortment of production photos, set designs, storyboards, special-effects images, and reproductions of comic book artwork." —School Library Journal
Trade Paperback
208 pages, 11 × 8.25 × 0.68 in
September 1, 2011
Harry N. Abrams
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by Paul Ruditis, AmcIntroduction by Robert Kirkman
Paul Ruditis has written or contributed to over a dozen official companion books to TV shows, including Bones, Prison Break, Buffy the Vampire Slayer, and The West Wing. He also writes novels for teens and adults and is currently writer and coeditor of a comic book series based on the TV show Charmed. He lives in Burbank, California.
Frank Darabont is the Academy Award– and Golden Globe–nominated writer, director, and producer of The Shawshank Redemption and The Green Mile. He developed The Walking Dead series for AMC and serves as executive producer, writer, director, and showrunner. He lives in Los Angeles, California.
Robert Kirkman is the New York Times bestselling author and creator of The Walking Dead and Invincible. Kirkman is a partner at Image Comics, where he founded the Skybound imprint, and is also a writer for and executive producer of AMC's The Walking Dead. He lives in Backwoods, California.
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